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Debt - Additional Information (Details) - USD ($) $ / shares in Units, shares in Thousands |  | 1 Months Ended | 3 Months Ended | 9 Months Ended |
--- | --- | --- | --- | --- | ---
Feb. 28, 2017 | Mar. 31, 2017 | Sep. 30, 2018 | Sep. 30, 2017 | Sep. 30, 2018 | Sep. 30, 2017 | Dec. 31, 2017
Debt Instrument [Line Items] |  |  |  |  |  |  |
Interest expense |  |  | $ 928,000 | $ 807,000 | $ 2,749,000 | $ 2,068,000 |
Cash interest expense |  |  | 700,000 | 500,000 | 2,100,000 | 1,600,000 |
Non-cash interest expense |  |  | 200,000 | $ 300,000 | $ 600,000 | $ 500,000 |
Debt instrument, final payment fee |  | $ 1,000,000 |  |  |  |  |
$35.0 Million Credit Facility |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Percentage of forecasted revenue to be achieved |  |  |  |  | 75.00% |  |
$35.0 Million Credit Facility | Prepaid on or Before First Anniversary of Funding |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Prepayment fees percentage |  |  |  |  | 3.00% |  |
$35.0 Million Credit Facility | Prepaid After First and on or Before Second Anniversary of Funding |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Prepayment fees percentage |  |  |  |  | 2.00% |  |
$35.0 Million Credit Facility | Prepaid After Second Anniversary of Funding |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Prepayment fees percentage |  |  |  |  | 1.00% |  |
$35.0 Million Credit Facility | Oxford Finance LLC |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Line of credit facility, maximum borrowing capacity | $ 25,000,000 | 35,000,000 |  |  |  |  |
Borrowings outstanding under credit facility |  |  | $ 30,000,000 |  | $ 30,000,000 |  |
Available borrowing achievement of trailing twelve month revenues |  | 45,000,000 |  |  |  |  |
Debt instrument, interest rate |  |  | 8.15% |  | 8.15% |  |
Warrants term |  |  | 7 years |  | 7 years |  |
Percentage of borrowing capacity of tranche |  |  |  |  | 3.95% |  |
Borrowing capacity of tranche |  |  | $ 5,000,000 |  | $ 5,000,000 |  |
Credit facility maturity date |  |  |  |  | Mar. 01, 2022 |  |
$35.0 Million Credit Facility | Oxford Finance LLC | LIBOR |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Debt instrument, description of variable rate basis |  |  |  |  | 30 day U.S. LIBOR |  |
Basis spread on variable rate |  |  |  |  | 7.38% |  |
$35.0 Million Credit Facility | Term A Loan |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Interest-only period |  |  |  |  | 2019-03 |  |
Amortization period without interest-only period extension |  |  |  |  | 36 months |  |
Extension of interest-only period upon achievement of revenues |  |  |  |  | 12 months |  |
Interest-only period upon achievement of revenues |  |  |  |  | 2020-03 |  |
Amortization period upon extension of interest-only period |  |  |  |  | 24 months |  |
Final payment fees percentage |  |  |  |  | 8.00% |  |
Increase in final payment fees percentage upon extension interest only periods |  |  |  |  | 8.50% |  |
Effective interest rates |  |  | 10.70% |  | 10.70% |  | 10.70%
$35.0 Million Credit Facility | Term A Loan | Common Stock |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Warrants to purchase shares |  |  | 20,303 |  | 20,303 |  |
Warrants, exercise price |  |  | $ 9.73 |  | $ 9.73 |  |
Warrants expiration period |  |  |  |  | 2024-03 |  |
$35.0 Million Credit Facility | Term A Loan | Oxford Finance LLC |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Borrowings outstanding under credit facility |  | 25,000,000 |  |  |  |  |
$35.0 Million Credit Facility | Term B Loan |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Interest-only period |  |  |  |  | 2019-03 |  |
Amortization period without interest-only period extension |  |  |  |  | 36 months |  |
Extension of interest-only period upon achievement of revenues |  |  |  |  | 12 months |  |
Interest-only period upon achievement of revenues |  |  |  |  | 2020-03 |  |
Amortization period upon extension of interest-only period |  |  |  |  | 24 months |  |
Final payment fees percentage |  |  |  |  | 7.00% |  |
Increase in final payment fees percentage upon extension interest only periods |  |  |  |  | 7.50% |  |
Effective interest rates |  |  | 11.60% |  | 11.60% |  | 11.60%
$35.0 Million Credit Facility | Term B Loan | Common Stock |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Warrants to purchase shares |  |  | 20,303 |  | 20,303 |  |
Warrants, exercise price |  |  | $ 9.73 |  | $ 9.73 |  |
Warrants expiration period |  |  |  |  | 2024-12 |  |
$35.0 Million Credit Facility | Term B Loan | Oxford Finance LLC |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Borrowings outstanding under credit facility |  | 5,000,000 |  |  |  |  |
$35.0 Million Credit Facility | Term C Loan | Oxford Finance LLC |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Line of credit facility, current borrowing capacity |  | $ 5,000,000 |  |  |  |  |
Notification period for lenders to borrow loan upon achieving required revenue milestone |  |  |  |  | 60 days |  |
Line of credit facility additional borrowing capacity |  |  | $ 5,000,000 |  | $ 5,000,000 |  |
$25.0 Million Credit Facility | Oxford Finance LLC |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Line of credit facility, maximum borrowing capacity | $ 25,000,000 |  |  |  |  |  |
$25.0 Million Credit Facility | Term A Loan |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Final payment fees percentage | 8.50% |  |  |  |  |  |
$25.0 Million Credit Facility | Term A Loan | Minimum |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Debt instrument, accrued interest rate | 8.50% |  |  |  |  |  |
$25.0 Million Credit Facility | Term A Loan | Maximum |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Debt instrument, accrued interest rate | 8.90% |  |  |  |  |  |
$25.0 Million Credit Facility | Term A Loan | Oxford Finance LLC |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Borrowings outstanding under credit facility | $ 15,000,000 |  |  |  |  |  |
$25.0 Million Credit Facility | Term B Loan |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Final payment fees percentage | 4.70% |  |  |  |  |  |
$25.0 Million Credit Facility | Term B Loan | Minimum |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Debt instrument, accrued interest rate | 8.50% |  |  |  |  |  |
$25.0 Million Credit Facility | Term B Loan | Maximum |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Debt instrument, accrued interest rate | 8.90% |  |  |  |  |  |
$25.0 Million Credit Facility | Term B Loan | Oxford Finance LLC |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Borrowings outstanding under credit facility | $ 5,000,000 |  |  |  |  |  |
$25.0 Million Credit Facility | Term C Loan | Oxford Finance LLC |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Line of credit facility, current borrowing capacity | $ 5,000,000 |  |  |  |  |  |

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